anyone remember an 80's vhs with a cartoon where they go in outer space in a rocket that I believe was just built out of shapes(not positive) and the land on a planet with craters and I seem to remember it resembling Sesame Street but I've been through every episode and movie without finding it.

Other things I can remember

Shapes wearing sunglasses
A worm like creature they seemed to be looking for (like slimy from ss)
Things would float in space and talk with the kids or creatures
The physical vhs may have had a simple drawing of a triangle, cylinder and square

Seems like something pbs but I can't tell if good housekeepings colors and shapes could be it.